Revision: 7748
http://playerstage.svn.sourceforge.net/playerstage/?rev=7748&view=rev
Author: robotos
Date: 2009-05-30 09:46:23 +0000 (Sat, 30 May 2009)
Log Message:
-----------
Convert some more controllers and make ifaces private
Modified Paths:
--------------
code/gazebo/trunk/server/controllers/Controller.hh
code/gazebo/trunk/server/controllers/factory/Factory.cc
code/gazebo/trunk/server/controllers/irarray/IR_Array.cc
code/gazebo/trunk/server/controllers/opaque/CMakeLists.txt
Modified: code/gazebo/trunk/server/controllers/Controller.hh
===================================================================
--- code/gazebo/trunk/server/controllers/Controller.hh 2009-05-30 09:37:34 UTC
(rev 7747)
+++ code/gazebo/trunk/server/controllers/Controller.hh 2009-05-30 09:46:23 UTC
(rev 7748)
@@ -124,7 +124,7 @@
protected: double lastUpdate;
/// \brief Array of all the iface for this controller
- protected: std::vector<Iface*> ifaces;
+ private: std::vector<Iface*> ifaces;
protected: std::vector<Param*> parameters;
};
Modified: code/gazebo/trunk/server/controllers/factory/Factory.cc
===================================================================
--- code/gazebo/trunk/server/controllers/factory/Factory.cc 2009-05-30
09:37:34 UTC (rev 7747)
+++ code/gazebo/trunk/server/controllers/factory/Factory.cc 2009-05-30
09:46:23 UTC (rev 7748)
@@ -66,10 +66,7 @@
// Load the controller
void Factory::LoadChild(XMLConfigNode *node)
{
- this->factoryIface = dynamic_cast<FactoryIface*>(this->ifaces[0]);
-
- if (!this->factoryIface)
- gzthrow("Factory controller requires a factoryIface");
+ this->factoryIface = dynamic_cast<FactoryIface*>(this->GetIface("factory"));
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/trunk/server/controllers/irarray/IR_Array.cc
===================================================================
--- code/gazebo/trunk/server/controllers/irarray/IR_Array.cc 2009-05-30
09:37:34 UTC (rev 7747)
+++ code/gazebo/trunk/server/controllers/irarray/IR_Array.cc 2009-05-30
09:46:23 UTC (rev 7748)
@@ -68,16 +68,7 @@
// Load the controller
void IR_Array::LoadChild(XMLConfigNode *node)
{
- std::vector<Iface*>::iterator iter;
-
- for (iter = this->ifaces.begin(); iter != this->ifaces.end(); iter++)
- {
- if ((*iter)->GetType() == "irarray")
- this->irIface = dynamic_cast<IRIface*>(*iter);
- }
-
- if (!this->irIface) gzthrow("IR_Array controller requires a IRIface");
-
+ this->irIface = dynamic_cast<IRIface*>(this->GetIface("irarray"));
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/trunk/server/controllers/opaque/CMakeLists.txt
===================================================================
--- code/gazebo/trunk/server/controllers/opaque/CMakeLists.txt 2009-05-30
09:37:34 UTC (rev 7747)
+++ code/gazebo/trunk/server/controllers/opaque/CMakeLists.txt 2009-05-30
09:46:23 UTC (rev 7748)
@@ -1,2 +1 @@
ADD_SUBDIRECTORY(jointforce)
-ADD_SUBDIRECTORY(cannon)
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